CN115145246A

CN115145246A - Controller testing method and device, vehicle, storage medium and chip

Info

Publication number: CN115145246A
Application number: CN202210743755.5A
Authority: CN
Inventors: 杨元东; 占子奇; 赵泓毅; 于志强
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-10-04
Anticipated expiration: 2042-06-27
Also published as: CN115145246B

Abstract

The disclosure relates to a testing method and device of a controller, a vehicle, a storage medium and a chip, and relates to the field of automatic driving. The method comprises the following steps: acquiring first input data for testing a first controller; determining target data from the first input data, the target data being data in the first input data that enables testing of a first controller and a second controller, the second controller being a controller in a second vehicle of a different type than the first vehicle; packaging the target data in a format supported by the second vehicle to obtain second input data; and transmitting the second input data to the second controller to test the second controller. With the testing method of the controller provided by the present disclosure, one kind of test data can be used for testing the controller in different types of vehicles.

Description

Controller testing method and device, vehicle, storage medium and chip

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for testing a controller, a vehicle, a storage medium, and a chip.

Background

The vehicle is provided with an automatic driving area controller which bears the data processing and calculation force required by the automatic driving of the vehicle, and the automatic driving of the vehicle is realized.

At present, in order to ensure that a vehicle can be safely driven on a road, an automatic driving area controller of the vehicle needs to be tested to determine the driving condition exhibited by the vehicle under the control of the automatic driving area controller facing different driving scenes.

However, the input data for testing the automatic driving area controller can only be used for testing the automatic driving area controllers of the vehicles of the same type, and the input data for testing the automatic driving area controllers of one type of vehicles cannot be used for testing the automatic driving area controllers of the other type of vehicles.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a method and an apparatus for testing a controller, a vehicle, a storage medium, and a chip.

According to a first aspect of embodiments of the present disclosure, there is provided a method for testing a controller, the method including:

acquiring first input data for testing a first controller, wherein the first input data is used for controlling a first vehicle by the first controller according to the first input data;

determining target data from the first input data, wherein the target data is data capable of testing a first controller and a second controller in the first input data, and the second controller is a controller in a second vehicle different from the first vehicle;

packaging the target data in a format supported by the second vehicle to obtain second input data;

and transmitting the second input data to the second controller, wherein the second input data is used for controlling the second vehicle by the second controller according to the second input data so as to test the second controller.

Optionally, the obtaining first input data for testing the first controller includes:

collecting a plurality of input data for testing the first controller;

determining the first input data from the plurality of input data upon detecting the presence of at least one of the following vehicle conditions:

the intelligent driving function of the first vehicle is triggered, the output data output by the first controller after the first vehicle is controlled according to the input data is abnormal, and the safe driving parameter of the first vehicle meets the preset condition.

Optionally, determining target data from the first input data comprises:

and determining the target data from the first input data according to the physical signal name of each data in the first input data.

Optionally, encapsulating the target data in a format supported by the second vehicle to obtain second input data, including:

obtaining data corresponding to the target data according to the mapping relation between the physical signal name of the target data in the first controller and the physical signal name of the target data in the second controller;

and encapsulating data corresponding to the target data according to a communication protocol supported by the second vehicle to obtain the second input data.

generating related data related to the target data, the related data being data required by the second vehicle or data required to transmit the target data;

and packaging the target data and the related data in a format supported by the second vehicle to obtain the second input data.

Optionally, transmitting the second input data to the second controller comprises:

transmitting the image data to the second controller by a first transmission module in the case that the second input data is image data;

transmitting the non-image data to the second controller with a second transmission module in case that the second input data is non-image data;

the first transmission module is different from the second transmission module.

Optionally, after transmitting the second input data to the second controller, the method comprises:

determining second output data generated by the second vehicle after the second controller controls the second vehicle according to the second input data;

determining that the second controller is abnormal when a difference value between the second output data and the true value data is greater than a first preset difference value, or when the difference value between the second output data and the first output data is greater than a second preset difference value;

the first output data is data generated by the first vehicle after the first controller controls the first vehicle according to the first input data.

According to a second aspect of embodiments of the present disclosure, there is provided a test apparatus of a controller, the apparatus including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire first input data for testing a first controller, and the first input data is used for the first controller to control a first vehicle according to the first input data;

an abstraction module configured to determine target data from the first input data, the target data being data in the first input data that enables testing of a first controller and a second controller, the second controller being a controller in a second vehicle of a different type than the first vehicle;

a packaging module configured to package the target data in a format supported by the second vehicle to obtain second input data;

a test module configured to transmit the second input data to the second controller, the second input data being used for the second controller to control the second vehicle according to the second input data so as to test the second controller.

According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the executable instructions are executed to implement the steps of the testing method of the controller provided by the first aspect of the present disclosure.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of testing a controller provided by the first aspect of the present disclosure.

According to a fifth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is used for reading instructions to execute the steps of the testing method of the controller provided by the first aspect of the disclosure.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

by the method for testing the controller, the first input data for testing the first controller can be obtained, and the target data capable of testing the first controller and the second controller simultaneously is stripped from the first input data; and packaging the target data into second input data supported by a second controller, and inputting the second input data into the second controller to test the driving condition reflected by the second vehicle after the second controller controls the second vehicle according to the second input data.

It can be seen that the target data actually playing a test role in the first controller is stripped from the first input data without being affected by the format supported by the first controller; and then packaging the target data into second input data supported by a second controller, so that the target data is adapted to a format supported by the second controller, and the target data in one type of automatic driving domain controller is synchronized into another type of automatic driving domain controller, thereby realizing the purpose of testing controllers of two different types of vehicles by using one type of target data.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is a flow chart illustrating steps of a method for testing a controller according to an exemplary embodiment.

FIG. 2 is a schematic illustration of steering data for a steering wheel shown in accordance with an exemplary embodiment.

FIG. 3 is a schematic diagram illustrating the transfer of target data and associated data into a second controller according to an exemplary embodiment.

FIG. 4 is a block diagram illustrating a test setup of a controller according to an exemplary embodiment.

FIG. 5 is a functional block diagram schematic of a vehicle shown in accordance with an exemplary embodiment.

FIG. 6 is a block diagram illustrating an apparatus in accordance with an example embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

It should be noted that all actions of acquiring signals, information or data in the present application are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

Please refer to fig. 1, which shows a method for testing a controller, the method includes the following steps:

in step S11, first input data for testing a first controller is obtained, where the first input data is used for the first controller to control a first vehicle according to the first input data.

In the disclosure, when testing a first controller of a first vehicle, first input data needs to be input into the first controller, and the first controller controls the first vehicle according to the first input data and prompts the first vehicle to generate first output data.

For example, the first controller may control the first vehicle in accordance with a signal value of a steering wheel angle such that the first vehicle is steered in accordance with the steering wheel angle, and data of a steering speed, a yaw angle, and the like output during steering of the first vehicle is the first output data.

The first controller is an automatic driving area controller in a first vehicle, and the first vehicle can be a vehicle for performing real vehicle test.

The first input data is a key test data segment which is input when the first controller of the first vehicle is subjected to real-vehicle test, and the data format of the first input data is adapted to the format supported by the first controller in the first vehicle.

For example, when a first controller of a first vehicle is tested, a plurality of continuous data pieces are input into the first controller, and at this time, a key test data piece can be screened out from the plurality of continuous data pieces to be used as first input data to perform real vehicle testing on the first controller.

In step S12, target data is determined from the first input data, where the target data is data that can be used to test a first controller and a second controller in the first input data, and the second controller is a controller in a second vehicle of a different type from the first vehicle.

In the present disclosure, if first input data for testing a first controller in a first vehicle is required to test a second controller in a second vehicle of a different vehicle type, target data that actually performs a test function needs to be extracted from the first input data. In this way, the target data is input into the second controller, and then the second output data output by the second vehicle under the driving scene represented by the same target data can be tested.

For example, if it is necessary to test the second controller by placing the first controller of the first vehicle in the second vehicle in a driving scene in which the steering angle of the steering wheel is 270 degrees, it is necessary to strip target data in which the steering wheel angle is 270 degrees from steering wheel steering data (the steering wheel steering data is the first input data), input the target data into the second controller, and test the second controller, and then test the driving condition reflected by the second vehicle after the second controller controls the second vehicle in the driving scene in which the steering wheel angle is 270 degrees.

The target data refers to core data of the first input data for testing the first controller, and signal values of the target data are kept unchanged when the first controller and the second controller are tested, so that the signal values of the target data stripped from the first input data cannot be changed due to changes of formats supported by the first vehicle and the second vehicle. When the target data for testing the first controller and the second controller are the same, it indicates that the first vehicle and the second vehicle are in the same driving scene.

The first input data includes target data and non-target data, and the target data directly changes with different driving scenes of the vehicle. A part of non-target data can be obtained by calculation of target data and changes along with the change of the target data; another portion of the non-target data is represented differently in the first controller than in the second controller, so that the portion of the non-target data needs to be reconfigured.

For example, referring to fig. 2, in the case that the first input data is steering data of a steering wheel, the steering data in fig. 2 includes, in order from top to bottom: the method comprises the following steps of steering wheel angle validity, steering wheel angle sensor type, leakage-proof frame counting (rolling counter), steering wheel angle calibration state, steering wheel angle change rate validity, steering wheel angle change rate, steering wheel angle and steering wheel sum check code (checksum).

Time stamp	Signal value
		t1	value1
t2	value2
		t3	value3
t4	value4

Table 1

Among the plurality of pieces of steering data, the steering wheel angle is target data, and when the target data is extracted from the first input data, a signal value of the target data changing with time is obtained from the first input data. As shown in table 1, signal values of the steering wheel angle stripped from the steering data are value1, value2, value3, and value4 according to changes of the timestamps t1, t2, t3, and t4, respectively, after the signal value of the steering wheel angle changing with time is stripped, since the signal value of the steering wheel angle is not limited by the communication protocol of the first controller, the signal value of the steering wheel angle can be directly encapsulated according to the communication protocol supported by the second controller to be input into the second controller, and the driving condition exhibited by the second vehicle after the second controller controls the second vehicle according to the steering wheel angle changed by the signal value can be tested.

Referring to fig. 2, the non-target data such as the steering wheel angle change rate, the steering wheel angle change rate validity, and the steering wheel angle validity may be calculated from the steering wheel angle.

Non-target data such as the number of leakage-proof frames, the type of the steering wheel angle sensor, the calibration state of the steering wheel angle, and the total steering wheel check code are different in vehicles of different models, so when the non-target data are transmitted to the second controller, the non-target data need to be configured according to a format supported by the second vehicle and then input to the second controller.

Although the stripped signal values of the target data are represented in the same form in the first controller and the second controller, in order to enable the first controller and the second controller to identify the signal values of the target data, the target data still needs to be packaged into data which can be identified by a communication protocol supported by the first controller or the second controller.

Therefore, when a second controller of a second vehicle with a different vehicle type from the first vehicle is tested, all first input data do not need to be input into the second controller, and only target data directly related to the second controller is abstracted from the first input data and input into the second controller to test the second controller.

When the target data is determined from the first input data, the target data may be determined according to the physical signal name of each data in the first input data. The types of the first input data include: driving scenes, vehicle attitude, sensors, driver control data, etc.

Specifically, the driving scenario includes: a traffic scene in which the front vehicle suddenly brakes, a traffic scene in which the front vehicle suddenly turns, and the like; the vehicle attitude includes: acceleration of an acceleration sensor of the vehicle in each direction, a yaw rate of the vehicle, and wheel speeds; the sensor includes: laser radar sensors, millimeter wave radar sensors, ultrasonic radar sensors, and the like; the driver control data includes: steering data of a steering wheel, brake pedal data, and accelerator pedal data, and the like.

For example, in a scenario where a preceding vehicle suddenly brakes and the first controller controls the first vehicle to brake according to the brake data (the brake data is the first input data), it may be determined that the brake speed is the target data from a plurality of physical signal names such as the brake speed, the brake duration, and the brake responsiveness in the brake data.

In the process of turning the steering wheel by the driver, under the scene that the first controller controls the first vehicle to turn according to the steering data of the steering wheel (the steering data is the first input data), the steering wheel angle can be determined to be the target data from a plurality of physical signal names such as the steering wheel angle validity, the steering wheel angle sensor type, the steering wheel angle calibration state, the steering wheel angle change rate validity, the steering wheel angle change rate, the steering wheel angle and the like in the steering data.

In step S13, the target data is packaged in a format supported by the second vehicle, so as to obtain second input data.

In this disclosure, after the target data for testing the second controller is obtained, since the vehicle type of the second vehicle is different from the vehicle type of the first vehicle, the communication protocol and the interface type supported by the second controller are different from those supported by the first controller, and therefore the target data needs to be encapsulated in the format supported by the second controller to obtain the second input data, so that the second controller can identify the second input data.

The format supported by the second vehicle may be different from the format supported by the first vehicle, or may be the same as the format supported by the first vehicle.

When the format supported by the second vehicle is different from the format supported by the first vehicle, repackaging the target data in the format supported by the second vehicle is required; under the same conditions, the target data does not need to be repackaged.

The format supported by the second vehicle includes a communication protocol supported by the second controller (the communication protocol includes a CAN communication protocol and an ethernet communication protocol), and an interface type of the second controller (for example, an interface of the second controller is GMSL2, gigabit Multimedia Serial Links, gigabit Multimedia Serial link; an interface of the second controller may also be an I/O interface, input/Output).

In step S14, the second input data is transmitted to the second controller, and the second input data is used for the second controller to control the second vehicle according to the second input data so as to test the second controller.

In this disclosure, when testing the second controller of the second vehicle, the packaged second input data may be input into the second controller, and the second controller controls the second vehicle according to the second input data, and causes the second vehicle to generate the second output data.

In this process, the first output data reflects the driving condition of the first vehicle after the first controller controls the first vehicle; the second output data reflects a driving condition of the second vehicle after the second controller controls the second vehicle. Because the first input data and the second input data are both used for testing the same driving scene, after the second controller is tested, the driving conditions of two different types of vehicles facing the same driving scene can be determined.

Wherein the second controller may be the same type of controller as the first controller.

Specifically, in the case where the second controller is the same type of controller as the first controller, the target data of the first input data in the first controller can be directly input into the second controller.

For example, in the case where both the second controller and the first controller are power domain controllers, then the target data in the power domain controller of the first vehicle is synchronized to the power domain controller of the second vehicle; and under the condition that the second controller and the first controller are both chassis domain controllers, synchronizing the target data in the chassis domain controller of the first vehicle to the chassis domain controller of the second vehicle. Thus, under the same driving scene that the first vehicle and the second vehicle have the same controller, different driving conditions are reflected.

Wherein the second controller may be a redundant controller in the second vehicle compared to the first vehicle. For example, in a case where the second controller is a body domain controller and there is no body domain controller in the first vehicle, target data required by the second controller itself is determined, and data required by the second controller itself is determined from the collected first input data to synchronize the data required by the second controller itself into the second controller.

In the related art, the interface type of the first controller is different from the interface type of the second controller, and the communication protocol supported by the first controller is also different from the communication protocol supported by the second controller, so that the first input data input into the first controller cannot be recognized by the second controller, thereby implementing the test of the second controller.

By the controller testing method, first input data for testing the first controller can be obtained, and target data capable of testing the first controller and the second controller simultaneously is stripped from the first input data; and packaging the target data into second input data supported by a second controller, and inputting the second input data into the second controller to test the driving condition reflected by the second vehicle after the second controller controls the second vehicle according to the second input data.

As can be seen, the present disclosure strips target data that actually performs a test function in the first controller from the first input data, without being affected by the format supported by the first controller; and then the target data is packaged into second input data supported by a second controller, so that the target data is adapted to a format supported by the second controller, the target data in one type of automatic driving area controller is synchronized into another type of automatic driving area controller, and the purpose of testing the controllers of two different types of vehicles by using one type of target data is realized.

Under the condition of testing controllers of two different types of vehicles by using one type of target data, when testing another type of automatic driving area controller, additional configuration of the target data is not needed, so that the testing cost brought by configuration of the target data is reduced.

In a possible embodiment, the first input data is a key data segment selected from a plurality of input data for testing the first controller, and the method specifically includes the following steps:

mode 1: in the event that the smart driving function of the first vehicle is triggered, first input data is determined from the collected plurality of input data.

In this aspect, when the smart driving function of the first vehicle is triggered, a plurality of input data causing the smart driving function to be triggered are determined, and the plurality of input data causing the smart driving function to be triggered are used as the first input data.

Wherein, intelligent driving function includes: automatic parking, active lane keeping, automatic lane changing, speed limit identification and the like. When testing the second controller of the second vehicle, it is necessary to test whether the driving conditions presented by the second controller are the same when facing the same driving scenario as the first controller.

Wherein the intelligent driving function of the first vehicle is triggered including: normally triggering the intelligent driving function or falsely triggering the intelligent driving function.

Exemplarily, first input data are input into a first controller, and the first controller can normally trigger an automatic parking function to control a first vehicle to park automatically; and inputting second input data with the same value as the first input data signal into the second controller, so as to test whether the second controller can normally trigger the automatic parking function to control the automatic parking of the second vehicle.

Exemplarily, the first input data is input into the first controller, and the first controller can falsely trigger the automatic parking function to control the first vehicle to automatically park; and inputting second input data with the same value as the first input data signal into the second controller, so that whether the second controller falsely triggers the automatic parking function can be tested.

Mode 2: when output data output by the first controller after controlling the first vehicle according to the input data is abnormal, the first input data is determined from the collected input data.

In this manner, when the data output by the first controller after controlling the first vehicle according to the input data is abnormal, the plurality of input data causing the data abnormality may be determined from the plurality of acquired input data, and the plurality of input data may be used as the first input data.

The data exceptions include: and when the first vehicle has an abnormal driving condition, deviation exists between output data output by the first vehicle and true value data.

After the first controller controls the first vehicle according to the input data, the abnormal driving condition of the first vehicle occurs, and a plurality of input data within a first preset time before and after the abnormal driving condition of the first vehicle occurs can be used as the first input data from the collected plurality of input data.

Specifically, after the first vehicle has the abnormal driving condition, the worker may label the plurality of input data within a first preset time period before and after the first vehicle has the abnormal driving condition. In this way, the input data with the tag can be used as the first input data when determining the first input data.

For example, after the first controller of the first vehicle receives the input data, if the first vehicle is controlled to suddenly accelerate or suddenly turn, a plurality of input data within 1min before and after the first vehicle suddenly accelerates or suddenly turns may be used as the first input data.

When the first controller controls the first vehicle according to the input data and the output data of the first vehicle deviates from the true value data, a plurality of input data which cause the deviation between the output data of the first vehicle and the true value data can be determined from the plurality of input data and used as the first input data.

The true data refers to correct data that the first controller outputs after receiving the input data.

For example, in the case where the input data received by the first controller is an image, the output data output by the first vehicle is that the posture of the person in the image is moving, and the true value data is that the posture of the person in the image is still, and when there is a deviation between the output data and the true value data, a plurality of image data causing the deviation may be used as the first input data.

In this aspect, after the first input data causing the first vehicle performance abnormality or the output abnormality data is obtained, the target data of these first input data may be input to the second controller, and it may be determined whether the second controller will control the second vehicle performance abnormality or output the abnormality data in the same driving scene.

Mode 3: and under the condition that the safe driving parameters of the first vehicle meet the preset conditions, determining first input data from the collected multiple input data.

In this way, under the condition that the safe driving parameter of the first vehicle meets the preset condition, it is indicated that the first vehicle is in a dangerous driving condition, and a plurality of input data causing the safe driving parameter to meet the preset condition may be determined from the collected plurality of input data as the first input data.

Wherein the safe driving parameters include: the lane departure period of the first vehicle, the period of time for which the first vehicle collides with the obstacle at the current speed, the lane change of the first vehicle, the running speed of the first vehicle, and the like. The preset conditions comprise a second preset time, a third preset time, a target lane change lane and a preset speed, and the second preset time and the third preset time can be the same or different.

Specifically, when the lane departure time period of the first vehicle is shorter than the second preset time period, it is described that the remaining time period from the first vehicle to the lane boundary line is shorter, and at this time, the input data causing the shorter lane departure time period may be determined from the plurality of input data as the first input data.

When the time length that the first vehicle collides with the obstacle at the current speed is less than the third preset time length, it is described that the first vehicle is likely to collide with the obstacle, and at this time, the input data that causes the first vehicle to possibly collide with the obstacle may be used as the first input data.

In the case where the lane change lane of the first vehicle is not the target lane change lane, indicating that the first vehicle has a lane change error, the input data causing the first vehicle lane change error may be determined as the first input data.

In the case where the traveling speed of the first vehicle is greater than the preset speed, which indicates that the first vehicle is speeding, the input data causing the first vehicle to speeding may be used as the first input data.

In the case that at least one of driving conditions, such as a short lane departure time of the first vehicle, a possibility of the first vehicle colliding with an obstacle, a lane change error of the first vehicle, and an overspeed of the first vehicle, exists, input data causing the driving conditions may be used as first input data, second input data having the same value as the first input data signal may be input into the second controller, and it may be tested whether the same driving conditions may also occur after the second controller receives the second input data.

In the disclosure, when the second controller of the second vehicle is tested by using the input data in the first vehicle, the second controller is not tested by using all the input data, but is tested by using the first input data which can cause the triggering of the intelligent driving function of the first vehicle, the abnormality of the output data of the first vehicle or the dangerous driving of the first vehicle in the input data, so as to test whether the same driving condition can occur when the second controller receives the first input data. And for the data which does not belong to the first input data in the input data, the data indicate that the first vehicle is in the working condition of normal driving, so that the second controller of the second vehicle can be tested without input data under the working condition of normal driving of the first vehicle. Therefore, according to the method, the second controller is subjected to the abnormal test through the data segment of the key first input data in the scene of abnormal driving of the first vehicle or the scene of triggering the intelligent driving function, so that whether the driving working condition of abnormal driving or triggering the intelligent driving function occurs or not is tested under the condition that the second controller faces the same first input data.

In one possible embodiment, the physical signal name of the target data may not be the same in the first controller and the second controller, and if the target data is input to the second controller by the physical signal name in the first controller, the second controller may not recognize the physical signal name of the target data in the first controller, and thus cannot control the second vehicle, and in order to enable the second controller to recognize the target data, the disclosure further includes the following steps:

in step S21, data corresponding to the target data is obtained according to a mapping relationship between a physical signal name of the target data in the first controller and a physical signal name of the target data in the second controller.

In this step, a mapping relationship between a physical signal name of the target data in the first controller and a physical signal name of the target data in the second controller may be established, and data corresponding to the target data may be determined according to the mapping relationship.

For example, the physical signal name of the target data in the first database of the first controller is a steering wheel angle, the physical signal name of the target data in the second database of the second controller is a vehicle steering angle, the physical signal names of the target data and the vehicle steering angle are different, but both represent the steering angle of the steering wheel, at this time, a mapping relation between the two can be established, and according to the mapping relation, the data corresponding to the target data is determined from the second database to be the data taking the vehicle steering angle as the physical signal name.

In step S22, the data corresponding to the target data is encapsulated according to the communication protocol supported by the second vehicle, so as to obtain the second input data.

In this disclosure, when the driving condition corresponding to the target data is reproduced, the second controller may not only need the target data, but also need the related data related to the target data to reproduce the driving condition.

Specifically, related data related to the target data may be generated, the related data being data required by the second vehicle or data required to transmit the target data; and packaging the target data and the related data in a format supported by the second vehicle to obtain second input data.

Wherein the data required for the second vehicle includes: driver configuration data of the second vehicle and characteristic data of the second vehicle. The driver configuration data, which for example sets a warning reminder on the second vehicle for the driver, is a 5min warning once, is different from the driver configuration data of the first vehicle and therefore needs to be regenerated. The characteristic data of the second vehicle includes: some algorithms have different input types with respect to the algorithm, and therefore the characteristic data needs to be regenerated.

Wherein the data required for transmitting the target data comprises: and checking the data. The verifying the data includes: steering wheel sum check code (Steering Angle Sensor Checksum), leak protection frame count on the bus (Rolling counter), MAC check code, etc.

The data required by the second vehicle or the data required by the transmission target data may include non-target data which needs to be reconfigured in the first input data. For example, the total sum check code of the steering wheel in the non-target data is different between the first controller and the second controller, so the total sum check code of the steering wheel needs to be reconfigured; for another example, the data required by the second vehicle is that the alarm reminding time interval is once every 5min, the alarm reminding time interval of the first vehicle is once every 3min, and at this time, the alarm reminding time interval needs to be reconfigured.

When the target data and the related data are packaged, for non-image data, the target data and the related data need to be packaged according to a communication protocol supported by a second vehicle, and for example, a communication protocol supported by a second Controller is a Controller Area Network (CAN) protocol, the target data and the related data need to be packaged according to a CAN channel, a CAN bus Identity (ID), a message signal form, a message check model form and a message period in the CAN protocol; for the image data, it needs to be encapsulated according to the interface type of the second controller, for example, the image data is converted into frame data to be recognized by the GMSL2 interface of the second controller.

For example, referring to fig. 3, the first input data is processed through data collection, data mining, data processing, and data automation test to obtain target data.

For the image data in the target data and the related data, if the hardware interface of the second controller is GMSL, the image data may be sent to the video injection module through the HDMI/DP interface, and the video injection module converts the image data into frame data and transmits the frame data into the second controller through the GMSL interface of the second controller.

For the non-image data in the target data and the related data, the following cases are included:

case 1: under the condition that the non-image data are driving operation data and millimeter wave radar data collected by the millimeter wave radar sensor, the driving operation data and the millimeter wave radar data can be transmitted to the vehicle injection module and the millimeter wave radar module through the Ethernet respectively; the vehicle injection module modifies the text form of the driving operation data into a text form conforming to the CAN communication protocol, and the millimeter wave radar module modifies the text form of the millimeter wave radar data into a text form conforming to the CAN communication protocol; the vehicle injection module sends the driving operation data which accords with the CAN communication protocol to the second controller through the CAN communication protocol; and the millimeter wave radar module sends the millimeter wave radar data conforming to the CAN communication protocol to the second controller through the CAN communication protocol.

Case 2: under the condition that the non-image data are the laser radar data collected by the laser radar, the laser radar module can receive the laser radar data through the Ethernet and then send the laser radar data to the second controller through the communication protocol of the Ethernet.

Case 3: when the non-image data is GNSS data (satellite positioning data of an object), the GNSS data may be sent to the GNSS injection module through the ethernet, the GNSS injection module forwards the GNSS data to the GNSS simulation module through the ethernet, and the GNSS simulation module sends the GNSS data to the second controller in the form of radio waves.

Case 4: under the condition that the non-image data is ultrasonic radar data collected by the ultrasonic radar, the ultrasonic radar module receives the ultrasonic radar data through the Ethernet and sends the ultrasonic radar data to the DSI3 transceiver through the Ethernet, and the DSI3 transceiver sends the ultrasonic radar data to a DSI interface of the second controller in a wired mode.

Case 5: in the case where the non-image data is analog data with an analog quantity as a carrier, the input/output module receives the analog data through the ethernet, and then sends the analog data to an input/output interface (I/O interface) of the second controller.

As can be seen from the above examples, when the target data and the related data are encapsulated, the text formats of the target data and the related data can be changed by different modules according to the difference between the interfaces of the second controller, and the data transmission can also be realized when the interface of the second controller is different from the interface of the first controller.

The target data and the related data can be encapsulated through different modules according to different communication protocols supported by the second controller, and data transmission can be realized under the condition that the communication protocol supported by the second controller is different from the communication protocol supported by the first controller.

In the case that the second controller is changed, the interface and the supported communication protocol of the second controller may be changed, and the text format of the target data and the related data may be changed by the remaining different modules so as to conform to the interface type and the supported communication protocol of the second controller.

The first vehicle is a real vehicle used in real vehicle test, the first controller is also a real controller in the first vehicle, and the process of inputting the packaged target data and the related data into the second controller is a simulation process of hardware in a loop. In the process, the second vehicle and the second controller are virtual objects simulated by the simulation system, so that the second controller controls the second vehicle to be a simulation process according to the target data, a real-vehicle test on the second vehicle is not needed, and the test cost brought by the real-vehicle test is reduced; and the target data is based on data input in real vehicle test, and the target data is applied to the second controller, so that the reliability of the virtual second controller for controlling the second vehicle is improved.

In a possible embodiment, after the second input data is transmitted into the second controller, the second controller needs to be tested, and when the second controller is tested, the testing can be performed through the following steps:

in step S31, second output data generated by the second vehicle after the second controller controls the second vehicle according to the second input data is determined.

In the present disclosure, the second input data is data having the same signal value as the first input data, so that the driving environment in which the second controller performs the test according to the second input data is the same as the driving environment in which the first controller performs the test according to the first input data.

After the second controller controls the second vehicle according to the second input data, the second vehicle may have reactions such as emergency braking, emergency steering, or starting of an intelligent driving function, and the data output by the second vehicle in the reactions is the second output data.

In step S32, determining that the second controller is abnormal when a difference value between the second output data and the true value data is greater than a first preset difference value, or when the difference value between the second output data and the first output data is greater than a second preset difference value; the first output data is data generated by the first vehicle after the first controller controls the first vehicle according to the first input data.

The first preset difference value and the second preset difference value may be 0 or other set values, and the first preset difference value and the second preset difference value may be the same or different.

For example, in a case where the target data is image data, the first controller outputs first output data according to the image data that the person in the image is moving, and the second controller outputs second output data according to the image data that the person in the image is still, where a difference value between the first output data and the second output data is greater than 0, indicating that the data output by the second controller is erroneous, and the second controller is abnormal.

For example, in a case where the target data is image data, the person in the image in the true value data is still, the second controller outputs second output data according to the image data, the person in the image is still, and a difference value between the second output data and the true value data is 0 and is smaller than a second preset difference value, which indicates that the second controller is normal.

For example, in the case where the first controller controls the first vehicle to travel at a speed of 90km/h according to the target data and the second controller controls the second vehicle to travel at a speed of 60km/h according to the target data, the difference between 90km/h and 60km/h is 30, which is greater than the first preset difference value, so it may be determined that the second controller is abnormal in the driving scene provided facing the same target data.

It can be seen that whether the second controller is abnormal can be determined by comparing the difference between the first output data and the second output data, or comparing the difference between the second output data and the true value data, thereby completing the abnormal test of the second controller.

FIG. 4 is a block diagram illustrating a testing arrangement of a controller according to an exemplary embodiment. Referring to fig. 4, the test apparatus 120 of the controller includes: the device comprises an acquisition module 121, an abstraction module 122, a packaging module 123 and a test module 124.

An obtaining module 121 configured to obtain first input data for testing a first controller, the first input data being used for the first controller to control a first vehicle according to the first input data;

an abstraction module 122 configured to determine target data from the first input data, the target data being data in the first input data that enables testing of a first controller and a second controller, the second controller being a controller in a second vehicle of a different type than the first vehicle;

a packaging module 123 configured to package the target data in a format supported by the second vehicle, resulting in second input data;

a testing module 124 configured to transmit the second input data to the second controller, the second input data being used by the second controller to control the second vehicle in accordance with the second input data to test the second controller.

Optionally, the obtaining module 121 includes:

an acquisition module configured to acquire a plurality of input data for testing the first controller;

a first input data determination module configured to determine the first input data from the plurality of input data if the presence of at least one of the following vehicle conditions is detected:

Optionally, the abstraction module 122 includes:

a first abstraction module configured to determine the target data from the first input data according to a physical signal name of each data in the first input data.

Optionally, the encapsulation module 123 includes:

the mapping module is configured to obtain data corresponding to the target data according to a mapping relation between a physical signal name of the target data in the first controller and a physical signal name of the target data in the second controller;

and the first packaging module is configured to package data corresponding to the target data according to a communication protocol supported by the second vehicle to obtain the second input data.

Optionally, the package module 123 includes:

a generation module configured to generate related data related to the target data, the related data being data required by the second vehicle or data required to transmit the target data;

a second packaging module configured to package the target data and the related data in a format supported by the second vehicle to obtain the second input data.

Optionally, the test module 124 comprises:

a first transmission module configured to transmit the image data to the second controller with the first transmission module in a case where the second input data is image data;

a second transmission module configured to transmit the non-image data to the second controller with the second transmission module in a case where the second input data is non-image data;

the first transmission module is different from the second transmission module.

Optionally, the testing device 120 of the controller further comprises:

a second output data determination module configured to determine second output data generated by the second vehicle after the second controller controls the second vehicle according to the second input data;

an abnormality determination module configured to determine that the second controller is abnormal if a difference value between the second output data and the true value data reaches a first preset difference value or more, or if a difference value between the second output data and the first output data reaches a second preset difference value or more;

Referring to fig. 5, fig. 5 is a functional block diagram of a vehicle 600 according to an exemplary embodiment. The vehicle 600 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 600 may acquire environmental information of its surroundings through the sensing system 620 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement full automatic driving, or present the analysis result to the user to implement partial automatic driving.

The vehicle 600 may include various subsystems such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 600 may be interconnected by wire or wirelessly.

In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

The communication system 611 may comprise a wireless communication system that may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may utilize an infrared link, bluetooth, or ZigBee to communicate directly with the device. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.

The entertainment system 612 may include a display device, a microphone, and a sound box, and a user may listen to a broadcast in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.

In some cases, the voice signal of the user may be acquired through a microphone, and certain control of the vehicle 600 by the user, such as adjusting the temperature in the vehicle, etc., may be implemented according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a stereo.

The navigation system 613 may include a map service provided by a map provider to provide navigation of a route of travel for the vehicle 600, and the navigation system 613 may be used in conjunction with a global positioning system 621 and an inertial measurement unit 622 of the vehicle. The map service provided by the map provider can be a two-dimensional map or a high-precision map.

The sensing system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system 621 (the global positioning system may be a GPS system, a beidou system or other positioning system), an Inertial Measurement Unit (IMU) 622, a laser radar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors of internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.

Global positioning system 621 is used to estimate the geographic location of vehicle 600.

The inertial measurement unit 622 is used to sense a pose change of the vehicle 600 based on the inertial acceleration. In some embodiments, inertial measurement unit 622 may be a combination of accelerometers and gyroscopes.

Lidar 623 utilizes laser light to sense objects in the environment in which vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.

The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 may also be used to sense the speed and/or heading of objects.

The ultrasonic radar 625 may sense objects around the vehicle 600 using ultrasonic signals.

The camera 626 is used to capture image information of the surroundings of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the image capturing device 626 may include still images or video stream information.

Decision control system 630 includes a computing system 631 that makes analytical decisions based on information obtained by sensing system 620, and decision control system 630 further includes a vehicle controller 632 that controls the powertrain of vehicle 600, and a steering system 633, throttle 634, and brake system 635 for controlling vehicle 600.

The computing system 631 may be operable to process and analyze the various information acquired by the perception system 620 in order to identify objects, and/or features in the environment surrounding the vehicle 600. The target may comprise a pedestrian or an animal and the objects and/or features may comprise traffic signals, road boundaries and obstacles. The computing system 631 may use object recognition algorithms, motion from Motion (SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the various information obtained and derive a control strategy for the vehicle.

The vehicle controller 632 may be used to perform coordinated control on the power battery and the engine 641 of the vehicle to improve the power performance of the vehicle 600.

The steering system 633 is operable to adjust the heading of the vehicle 600. For example, in one embodiment, a steering wheel system.

The throttle 634 is used to control the operating speed of the engine 641 and, in turn, the speed of the vehicle 600.

The brake system 635 is used to control the deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheel 644. In some embodiments, the braking system 635 may convert kinetic energy of the wheels 644 to electrical current. The braking system 635 may also take other forms to slow the rotational speed of the wheels 644 to control the speed of the vehicle 600.

The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.

Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 642 may also provide energy to other systems of the vehicle 600.

The transmission 643 may transmit mechanical power from the engine 641 to the wheels 644. The transmission 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 643 may also include other components, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.

Some or all of the functionality of the vehicle 600 is controlled by the computing platform 650. The computing platform 650 can include at least one first processor 651, which first processor 651 can execute instructions 653 stored in a non-transitory computer-readable medium, such as first memory 652. In some embodiments, the computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 600 in a distributed manner.

The first processor 651 may be any conventional processor, such as a commercially available CPU. Alternatively, the first processor 651 may also include a processor such as a Graphics Processor Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 5 functionally illustrates a processor, memory, and other elements of a computer in the same block, those skilled in the art will appreciate that the processor, computer, or memory may actually comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer are to be understood as including references to a collection of processors or computers or memories which may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only computations related to the component-specific functions.

In the disclosed embodiment, the first processor 651 may perform the above-described test method of the controller.

In various aspects described herein, the first processor 651 may be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others are executed by a remote processor, including taking the steps necessary to perform a single maneuver.

In some embodiments, the first memory 652 can contain instructions 653 (e.g., program logic), which instructions 653 can be executed by the first processor 651 to perform various functions of the vehicle 600. The first memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the infotainment system 610, the perception system 620, the decision control system 630, the drive system 640.

In addition to instructions 653, first memory 652 may store data such as road maps, route information, the location, direction, speed of the vehicle, and other such vehicle data, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.

Computing platform 650 may control functions of vehicle 600 based on inputs received from various subsystems (e.g., drive system 640, perception system 620, and decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.

Optionally, one or more of these components described above may be mounted or associated separately from the vehicle 600. For example, the first memory 652 may exist partially or completely separately from the vehicle 600. The above components may be communicatively coupled together in a wired and/or wireless manner.

Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 5 should not be construed as limiting the embodiment of the present disclosure.

An autonomous automobile traveling on a roadway, such as vehicle 600 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, etc., may be used to determine the speed at which the autonomous vehicle is to be adjusted.

Optionally, the vehicle 600 or a sensing and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict the behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so it is also possible to predict the behavior of a single identified object taking all identified objects together into account. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 600 to cause the autonomous vehicle to follow a given trajectory and/or maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).

The vehicle 600 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the embodiment of the present disclosure is not particularly limited.

The apparatus may be a part of a stand-alone electronic device, for example, in an embodiment, the apparatus may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a collection of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip can be used to execute executable instructions (or codes) to implement the testing method of the controller. Where the executable instructions may be stored in the integrated circuit or chip or may be retrieved from another device or apparatus, for example, where the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instructions can be stored in the processor, and when the executable instructions are executed by the processor, the testing method of the controller is realized; alternatively, the integrated circuit or chip may receive the executable instructions through the interface and transmit the executable instructions to the processor for execution, so as to implement the testing method of the controller.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned method of testing a controller when executed by the programmable apparatus.

Fig. 6 is a block diagram illustrating a test apparatus 1900 for a controller according to an example embodiment. For example, the apparatus 1900 may be provided as a server. Referring to FIG. 6, the apparatus 1900 includes a processing component 1922 further including one or more processors and memory resources represented by a second memory 1932 for storing instructions, e.g., applications, executable by the processing component 1922. The application programs stored in the second memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the controller testing method described above.

The device 1900 may also include a power component 1926 configured to perform power management of the device 1900, a wired or wireless network interface 1950 configured to connect the device 1900 to a network, and an input/output interface 1958. The device 1900 may operate based on an operating system stored in the second memory 1932Systems, e.g. Windows Server ^TM ，Mac OS X ^TM ，Unix ^TM ，Linux ^TM ，FreeBSD ^TM Or the like.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of testing a controller, the method comprising:

the method comprises the steps that first input data for testing a first controller are obtained, and the first input data are used for the first controller to control a first vehicle according to the first input data;

determining target data from the first input data, the target data being data of the first input data that enables testing of a first controller and a second controller, the second controller is a controller in a second vehicle of a different type than the first vehicle;

2. The method of claim 1, wherein obtaining first input data for testing a first controller comprises:

collecting a plurality of input data for testing the first controller;

3. The method of claim 1, wherein determining target data from the first input data comprises:

4. The method of claim 1, wherein packaging the target data in a format supported by the second vehicle to obtain second input data comprises:

5. The method of claim 1, wherein packaging the target data in a format supported by the second vehicle to obtain second input data comprises:

6. The method of claim 1, wherein transmitting the second input data to the second controller comprises:

transmitting the non-image data to the second controller by a second transmission module if the second input data is non-image data;

the first transmission module is different from the second transmission module.

7. The method of claim 1, wherein after transmitting the second input data to the second controller, the method comprises:

8. A test apparatus for a controller, the apparatus comprising:

9. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

executing the executable instructions to implement the steps of the method of testing a controller of any of claims 1 to 7.

10. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of a method of testing a controller according to any one of claims 1 to 7.

11. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the steps of the method of testing a controller of any of claims 1 to 7.